Combination of Transverse-Trot Gait Pattern for Quadruped Walking Robot

This paper presents a combination of transverse and trot walking pattern technique for hexa-quad robot after transformation to optimize the multi-legged robot operation and walking performances. Due to the limitation on the stability of hexapod robot, the combination of hexa-quad walking sequence is...

Full description

Bibliographic Details
Main Authors:	Yin Tan, Yee, Irawan, Addie
Format:	Conference or Workshop Item
Language:	English
Published:	2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/9805/ http://umpir.ump.edu.my/id/eprint/9805/1/Combination%20of%20Transverse-Trot%20Gait%20Pattern%20for%20Quadruped%20Walking.pdf

id	ump-9805
recordtype	eprints
spelling	ump-98052018-04-18T02:38:22Z http://umpir.ump.edu.my/id/eprint/9805/ Combination of Transverse-Trot Gait Pattern for Quadruped Walking Robot Yin Tan, Yee Irawan, Addie TK Electrical engineering. Electronics Nuclear engineering This paper presents a combination of transverse and trot walking pattern technique for hexa-quad robot after transformation to optimize the multi-legged robot operation and walking performances. Due to the limitation on the stability of hexapod robot, the combination of hexa-quad walking sequence is proposed to stabilize the quadruped configuration and walking modes. Quadruped robot configuration is stand within dynamically and statically stable criteria if compare to the hexapod robot that has only statically stable criteria. Thus, it is very crucial to have a stable walking sequence technique during walking and operation session. Therefore walking sequence technique to perform for hexa-quad transformation is proposed based on robot’s Center of mass (CoM) and defined support polygon on positioning the leg in transformation process. A real-time based model of hexapod robot control architecture with proposed walking sequence is designed and validated using separated 3 dimensional (3D) simulators. The analysis of robot stepping foot motion is done to verify the desire designed walking sequences and the Body Mass Coordinate (BMC) is analyzed for way point of robot walking. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/9805/1/Combination%20of%20Transverse-Trot%20Gait%20Pattern%20for%20Quadruped%20Walking.pdf Yin Tan, Yee and Irawan, Addie (2015) Combination of Transverse-Trot Gait Pattern for Quadruped Walking Robot. In: Proceeding of Colloquium on Robotics, Unmanned Systems and Cybernetics 2014 (CRUSC), 20 November 2014 , Universiti Malaysia Pahang. pp. 56-60..
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Yin Tan, Yee Irawan, Addie Combination of Transverse-Trot Gait Pattern for Quadruped Walking Robot
description	This paper presents a combination of transverse and trot walking pattern technique for hexa-quad robot after transformation to optimize the multi-legged robot operation and walking performances. Due to the limitation on the stability of hexapod robot, the combination of hexa-quad walking sequence is proposed to stabilize the quadruped configuration and walking modes. Quadruped robot configuration is stand within dynamically and statically stable criteria if compare to the hexapod robot that has only statically stable criteria. Thus, it is very crucial to have a stable walking sequence technique during walking and operation session. Therefore walking sequence technique to perform for hexa-quad transformation is proposed based on robot’s Center of mass (CoM) and defined support polygon on positioning the leg in transformation process. A real-time based model of hexapod robot control architecture with proposed walking sequence is designed and validated using separated 3 dimensional (3D) simulators. The analysis of robot stepping foot motion is done to verify the desire designed walking sequences and the Body Mass Coordinate (BMC) is analyzed for way point of robot walking.
format	Conference or Workshop Item
author	Yin Tan, Yee Irawan, Addie
author_facet	Yin Tan, Yee Irawan, Addie
author_sort	Yin Tan, Yee
title	Combination of Transverse-Trot Gait Pattern for Quadruped Walking Robot
title_short	Combination of Transverse-Trot Gait Pattern for Quadruped Walking Robot
title_full	Combination of Transverse-Trot Gait Pattern for Quadruped Walking Robot
title_fullStr	Combination of Transverse-Trot Gait Pattern for Quadruped Walking Robot
title_full_unstemmed	Combination of Transverse-Trot Gait Pattern for Quadruped Walking Robot
title_sort	combination of transverse-trot gait pattern for quadruped walking robot
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/9805/ http://umpir.ump.edu.my/id/eprint/9805/1/Combination%20of%20Transverse-Trot%20Gait%20Pattern%20for%20Quadruped%20Walking.pdf
first_indexed	2023-09-18T22:08:46Z
last_indexed	2023-09-18T22:08:46Z
_version_	1777414885771051008

Combination of Transverse-Trot Gait Pattern for Quadruped Walking Robot

Similar Items